2015-08-02T18:26:52ZDiseño y simulación de un actuador de rigidez variablehttp://hdl.handle.net/10016/18611
Diseño y simulación de un actuador de rigidez variable
López Martinez, Javier; Giménez Fernández, A.; García Vallejo, D.; Jardón Huete, Alberto; Balaguer, Carlos
Los actuadores de rigidez variable se han desarrollado como una alternativa a los actuadores convencionales en diversas aplicaciones, como son entre otras los robots de servicio y los robots caminantes. El diseño mecánico de estos actuadores debe dar solución a nuevas necesidades que no eran tenidas en consideración en los actuadores rígidos, como la reducción del daño en caso de impacto o el ajuste de la frecuencia natural del sistema. Han sido muy diversas las soluciones propuestas hasta el momento, caracterizadas por el tipo de mecanismo implementado para variar la rigidez y posición de la articulación. En este trabajo se presenta un nuevo diseño de actuador basado en transmisión por cables, en el que un primer motor controla la posición de equilibrio del eslabón y un segundo motor se encarga de variar la rigidez de la articulación. Además, se ha simulado una situación de impacto hombre-robot para estudiar su contribución en la reducción del daño en hombre y robot.
XIX Congreso Nacional de Ingeniería Mecánica (CNIM 2012), Castellón, 14-16 de noviembre de 2012
2012-11-01T00:00:00ZA new finger inverse kinematics method for an anthropomorphic handhttp://hdl.handle.net/10016/14116
A new finger inverse kinematics method for an anthropomorphic hand
Bensalah, Choukri; Abderrahim, Mohamed; González Gómez, Juan
In this paper, a new method for solving the
inverse kinematics of the fingers of an anthropomorphic hand
is proposed. Our approach combines a Modified Selectively
Damped Least Squares (MSDLS) and Jacobian Transpose (JT)
methods. The main advantages of this method with respect to
the ordinary SDLS are: optimal Cartesian increment, shorter
computation time and better response near singularity configurations.
The original JT method exhibits a strong shattering
with small magnitudes which occurs near the goal position or in
the case of unreachable positions. Like in the SDLS, a damping
factor was applied to each input singular vector to filter the
undesirable behavior. A comparative study between the MSDLS
applied to the inverse Jacobian and JT matrix is developed
to investigate manipulator performance in critical end-point
positions of the index finger of a commercial anthropomorphic
robotic hand and also to evaluate the impact of the increment
length on computation time.
Proceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)
2011-01-01T00:00:00ZAdaptive sensor-fusion of depth and color information for cognitive roboticshttp://hdl.handle.net/10016/14114
Adaptive sensor-fusion of depth and color information for cognitive robotics
Klimentjew, Denis; Zhang, Jianwei
The presented work goes one step further than
only combining data from different sensors. The corresponding
points of an image and a 3D point cloud are determined through
calibration. Color information is thereby assigned to every voxel
in the overlapping area of a stereo camera system and a laser
range finder. Then we analyze the image and search for the
locations, which are especially susceptible to errors by both
sensors. Depending on the ascertained situation, we try to
correct or minimize errors. By analyzing and interpreting the
images as well as removing errors we create an adaptive tool
which improves multi-sensor fusion. This allows us to correct
the fused data and to perfect the multi-modal sensor fusion
or to predict the locations where the sensor information is
vague or defective. The presented results demonstrate a clear
improvement over standard procedures and show that other
progress based on our work is possible.
Proceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)
2011-01-01T00:00:00ZProgramming-by-demonstration and adaptation of robot skills by fuzzy-time-modelinghttp://hdl.handle.net/10016/13982
Programming-by-demonstration and adaptation of robot skills by fuzzy-time-modeling
Palm, Rainer; Iliev, Boyko
Complex robot tasks can be partitioned into motion
primitives or robot skills that can directly be learned and
recognized through Programming-by-Demonstration (PbD) by a
human operator who demonstrates a set of reference skills. Robot
motions are recorded by a data-capturing system and modeled
by a specific fuzzy clustering and modeling technique where
skill models use time instants as inputs and operator actions
as outputs. In the recognition phase the robot identifies the skill
shown by the operator in a novel test demonstration.
Skill models are updated online during the execution of skills
using the Broyden update formula. This method is extended for
fuzzy models especially for time cluster models. The updated
model is used for further executions of the same skill.
Proceedings of: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiS 2011 MDCM), April 11-15, 2011, Paris (France)
2011-07-01T00:00:00Z